mirror of
https://github.com/opencv/opencv.git
synced 2024-12-04 16:59:12 +08:00
372 lines
13 KiB
C++
372 lines
13 KiB
C++
#include "precomp.hpp"
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#ifdef WIN32
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#include "xiApi.h"
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#else
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#include <m3api/xiApi.h>
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#endif
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/**********************************************************************************/
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class CvCaptureCAM_XIMEA : public CvCapture
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{
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public:
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CvCaptureCAM_XIMEA() { init(); }
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virtual ~CvCaptureCAM_XIMEA() { close(); }
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virtual bool open( int index );
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virtual void close();
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virtual double getProperty(int) const;
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virtual bool setProperty(int, double);
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virtual bool grabFrame();
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virtual IplImage* retrieveFrame(int);
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virtual int getCaptureDomain() { return CV_CAP_XIAPI; } // Return the type of the capture object: CV_CAP_VFW, etc...
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private:
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void init();
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void errMsg(const char* msg, int errNum);
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void resetCvImage();
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int getBpp();
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IplImage* frame;
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HANDLE hmv;
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DWORD numDevices;
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int timeout;
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XI_IMG image;
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};
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/**********************************************************************************/
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CvCapture* cvCreateCameraCapture_XIMEA( int index )
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{
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CvCaptureCAM_XIMEA* capture = new CvCaptureCAM_XIMEA;
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if( capture->open( index ))
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return capture;
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delete capture;
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return 0;
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}
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/**********************************************************************************/
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// Enumerate connected devices
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void CvCaptureCAM_XIMEA::init()
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{
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#if defined WIN32 || defined _WIN32
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xiGetNumberDevices( &numDevices);
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#else
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// try second re-enumeration if first one fails
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if (xiGetNumberDevices( &numDevices) != XI_OK)
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{
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xiGetNumberDevices( &numDevices);
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}
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#endif
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hmv = NULL;
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frame = NULL;
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timeout = 0;
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memset(&image, 0, sizeof(XI_IMG));
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}
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/**********************************************************************************/
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// Initialize camera input
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bool CvCaptureCAM_XIMEA::open( int wIndex )
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{
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#define HandleXiResult(res) if (res!=XI_OK) goto error;
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int mvret = XI_OK;
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if(numDevices == 0)
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return false;
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if((mvret = xiOpenDevice( wIndex, &hmv)) != XI_OK)
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{
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#if defined WIN32 || defined _WIN32
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errMsg("Open XI_DEVICE failed", mvret);
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return false;
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#else
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// try opening second time if first fails
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if((mvret = xiOpenDevice( wIndex, &hmv)) != XI_OK)
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{
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errMsg("Open XI_DEVICE failed", mvret);
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return false;
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}
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#endif
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}
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int width = 0;
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int height = 0;
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int isColor = 0;
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// always use auto exposure/gain
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mvret = xiSetParamInt( hmv, XI_PRM_AEAG, 1);
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HandleXiResult(mvret);
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mvret = xiGetParamInt( hmv, XI_PRM_WIDTH, &width);
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HandleXiResult(mvret);
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mvret = xiGetParamInt( hmv, XI_PRM_HEIGHT, &height);
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HandleXiResult(mvret);
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mvret = xiGetParamInt(hmv, XI_PRM_IMAGE_IS_COLOR, &isColor);
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HandleXiResult(mvret);
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if(isColor) // for color cameras
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{
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// default image format RGB24
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mvret = xiSetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, XI_RGB24);
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HandleXiResult(mvret);
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// always use auto white balance for color cameras
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mvret = xiSetParamInt( hmv, XI_PRM_AUTO_WB, 1);
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HandleXiResult(mvret);
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// allocate frame buffer for RGB24 image
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frame = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 3);
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}
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else // for mono cameras
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{
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// default image format MONO8
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mvret = xiSetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, XI_MONO8);
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HandleXiResult(mvret);
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// allocate frame buffer for MONO8 image
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frame = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
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}
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//default capture timeout 10s
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timeout = 10000;
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mvret = xiStartAcquisition(hmv);
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if(mvret != XI_OK)
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{
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errMsg("StartAcquisition XI_DEVICE failed", mvret);
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goto error;
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}
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return true;
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error:
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errMsg("Open XI_DEVICE failed", mvret);
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xiCloseDevice(hmv);
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hmv = NULL;
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return false;
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}
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/**********************************************************************************/
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void CvCaptureCAM_XIMEA::close()
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{
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if(frame)
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cvReleaseImage(&frame);
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if(hmv)
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{
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xiStopAcquisition(hmv);
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xiCloseDevice(hmv);
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}
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hmv = NULL;
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}
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/**********************************************************************************/
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bool CvCaptureCAM_XIMEA::grabFrame()
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{
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memset(&image, 0, sizeof(XI_IMG));
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image.size = sizeof(XI_IMG);
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int mvret = xiGetImage( hmv, timeout, &image);
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if(mvret == XI_ACQUISITION_STOPED)
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{
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xiStartAcquisition(hmv);
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mvret = xiGetImage(hmv, timeout, &image);
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}
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if(mvret != XI_OK)
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{
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errMsg("Error during GetImage", mvret);
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return false;
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}
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return true;
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}
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/**********************************************************************************/
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IplImage* CvCaptureCAM_XIMEA::retrieveFrame(int)
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{
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// update cvImage after format has changed
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resetCvImage();
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// copy pixel data
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switch( image.frm)
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{
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case XI_MONO8 :
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case XI_RAW8 : memcpy( frame->imageData, image.bp, image.width*image.height); break;
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case XI_MONO16 :
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case XI_RAW16 : memcpy( frame->imageData, image.bp, image.width*image.height*sizeof(WORD)); break;
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case XI_RGB24 :
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case XI_RGB_PLANAR : memcpy( frame->imageData, image.bp, image.width*image.height*3); break;
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case XI_RGB32 : memcpy( frame->imageData, image.bp, image.width*image.height*4); break;
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default: break;
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}
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return frame;
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}
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/**********************************************************************************/
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void CvCaptureCAM_XIMEA::resetCvImage()
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{
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int width = 0, height = 0, format = 0;
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xiGetParamInt( hmv, XI_PRM_WIDTH, &width);
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xiGetParamInt( hmv, XI_PRM_HEIGHT, &height);
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xiGetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, &format);
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if( (int)image.width != frame->width || (int)image.height != frame->height || image.frm != (XI_IMG_FORMAT)format)
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{
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if(frame) cvReleaseImage(&frame);
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frame = NULL;
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switch( image.frm)
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{
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case XI_MONO8 :
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case XI_RAW8 : frame = cvCreateImage(cvSize( image.width, image.height), IPL_DEPTH_8U, 1); break;
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case XI_MONO16 :
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case XI_RAW16 : frame = cvCreateImage(cvSize( image.width, image.height), IPL_DEPTH_16U, 1); break;
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case XI_RGB24 :
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case XI_RGB_PLANAR : frame = cvCreateImage(cvSize( image.width, image.height), IPL_DEPTH_8U, 3); break;
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case XI_RGB32 : frame = cvCreateImage(cvSize( image.width, image.height), IPL_DEPTH_8U, 4); break;
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default :
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return;
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}
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}
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cvZero(frame);
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}
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/**********************************************************************************/
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double CvCaptureCAM_XIMEA::getProperty( int property_id ) const
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{
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if(hmv == NULL)
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return 0;
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int ival = 0;
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float fval = 0;
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switch( property_id )
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{
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// OCV parameters
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case CV_CAP_PROP_POS_FRAMES : return (double) image.nframe;
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case CV_CAP_PROP_FRAME_WIDTH : xiGetParamInt( hmv, XI_PRM_WIDTH, &ival); return ival;
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case CV_CAP_PROP_FRAME_HEIGHT : xiGetParamInt( hmv, XI_PRM_HEIGHT, &ival); return ival;
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case CV_CAP_PROP_FPS : xiGetParamFloat( hmv, XI_PRM_FRAMERATE, &fval); return fval;
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case CV_CAP_PROP_GAIN : xiGetParamFloat( hmv, XI_PRM_GAIN, &fval); return fval;
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case CV_CAP_PROP_EXPOSURE : xiGetParamInt( hmv, XI_PRM_EXPOSURE, &ival); return ival;
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// XIMEA camera properties
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case CV_CAP_PROP_XI_DOWNSAMPLING : xiGetParamInt( hmv, XI_PRM_DOWNSAMPLING, &ival); return ival;
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case CV_CAP_PROP_XI_DATA_FORMAT : xiGetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, &ival); return ival;
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case CV_CAP_PROP_XI_OFFSET_X : xiGetParamInt( hmv, XI_PRM_OFFSET_X, &ival); return ival;
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case CV_CAP_PROP_XI_OFFSET_Y : xiGetParamInt( hmv, XI_PRM_OFFSET_Y, &ival); return ival;
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case CV_CAP_PROP_XI_TRG_SOURCE : xiGetParamInt( hmv, XI_PRM_TRG_SOURCE, &ival); return ival;
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case CV_CAP_PROP_XI_GPI_SELECTOR : xiGetParamInt( hmv, XI_PRM_GPI_SELECTOR, &ival); return ival;
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case CV_CAP_PROP_XI_GPI_MODE : xiGetParamInt( hmv, XI_PRM_GPI_MODE, &ival); return ival;
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case CV_CAP_PROP_XI_GPI_LEVEL : xiGetParamInt( hmv, XI_PRM_GPI_LEVEL, &ival); return ival;
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case CV_CAP_PROP_XI_GPO_SELECTOR : xiGetParamInt( hmv, XI_PRM_GPO_SELECTOR, &ival); return ival;
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case CV_CAP_PROP_XI_GPO_MODE : xiGetParamInt( hmv, XI_PRM_GPO_MODE, &ival); return ival;
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case CV_CAP_PROP_XI_LED_SELECTOR : xiGetParamInt( hmv, XI_PRM_LED_SELECTOR, &ival); return ival;
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case CV_CAP_PROP_XI_LED_MODE : xiGetParamInt( hmv, XI_PRM_LED_MODE, &ival); return ival;
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case CV_CAP_PROP_XI_AUTO_WB : xiGetParamInt( hmv, XI_PRM_AUTO_WB, &ival); return ival;
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case CV_CAP_PROP_XI_AEAG : xiGetParamInt( hmv, XI_PRM_AEAG, &ival); return ival;
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case CV_CAP_PROP_XI_EXP_PRIORITY : xiGetParamFloat( hmv, XI_PRM_EXP_PRIORITY, &fval); return fval;
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case CV_CAP_PROP_XI_AE_MAX_LIMIT : xiGetParamInt( hmv, XI_PRM_AE_MAX_LIMIT, &ival); return ival;
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case CV_CAP_PROP_XI_AG_MAX_LIMIT : xiGetParamFloat( hmv, XI_PRM_AG_MAX_LIMIT, &fval); return fval;
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case CV_CAP_PROP_XI_AEAG_LEVEL : xiGetParamInt( hmv, XI_PRM_AEAG_LEVEL, &ival); return ival;
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case CV_CAP_PROP_XI_TIMEOUT : return timeout;
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}
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return 0;
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}
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/**********************************************************************************/
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bool CvCaptureCAM_XIMEA::setProperty( int property_id, double value )
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{
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int ival = (int) value;
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float fval = (float) value;
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int mvret = XI_OK;
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switch(property_id)
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{
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// OCV parameters
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case CV_CAP_PROP_FRAME_WIDTH : mvret = xiSetParamInt( hmv, XI_PRM_WIDTH, ival); break;
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case CV_CAP_PROP_FRAME_HEIGHT : mvret = xiSetParamInt( hmv, XI_PRM_HEIGHT, ival); break;
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case CV_CAP_PROP_FPS : mvret = xiSetParamFloat( hmv, XI_PRM_FRAMERATE, fval); break;
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case CV_CAP_PROP_GAIN : mvret = xiSetParamFloat( hmv, XI_PRM_GAIN, fval); break;
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case CV_CAP_PROP_EXPOSURE : mvret = xiSetParamInt( hmv, XI_PRM_EXPOSURE, ival); break;
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// XIMEA camera properties
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case CV_CAP_PROP_XI_DOWNSAMPLING : mvret = xiSetParamInt( hmv, XI_PRM_DOWNSAMPLING, ival); break;
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case CV_CAP_PROP_XI_DATA_FORMAT : mvret = xiSetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, ival); break;
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case CV_CAP_PROP_XI_OFFSET_X : mvret = xiSetParamInt( hmv, XI_PRM_OFFSET_X, ival); break;
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case CV_CAP_PROP_XI_OFFSET_Y : mvret = xiSetParamInt( hmv, XI_PRM_OFFSET_Y, ival); break;
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case CV_CAP_PROP_XI_TRG_SOURCE : mvret = xiSetParamInt( hmv, XI_PRM_TRG_SOURCE, ival); break;
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case CV_CAP_PROP_XI_GPI_SELECTOR : mvret = xiSetParamInt( hmv, XI_PRM_GPI_SELECTOR, ival); break;
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case CV_CAP_PROP_XI_TRG_SOFTWARE : mvret = xiSetParamInt( hmv, XI_PRM_TRG_SOFTWARE, 1); break;
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case CV_CAP_PROP_XI_GPI_MODE : mvret = xiSetParamInt( hmv, XI_PRM_GPI_MODE, ival); break;
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case CV_CAP_PROP_XI_GPI_LEVEL : mvret = xiSetParamInt( hmv, XI_PRM_GPI_LEVEL, ival); break;
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case CV_CAP_PROP_XI_GPO_SELECTOR : mvret = xiSetParamInt( hmv, XI_PRM_GPO_SELECTOR, ival); break;
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case CV_CAP_PROP_XI_GPO_MODE : mvret = xiSetParamInt( hmv, XI_PRM_GPO_MODE, ival); break;
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case CV_CAP_PROP_XI_LED_SELECTOR : mvret = xiSetParamInt( hmv, XI_PRM_LED_SELECTOR, ival); break;
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case CV_CAP_PROP_XI_LED_MODE : mvret = xiSetParamInt( hmv, XI_PRM_LED_MODE, ival); break;
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case CV_CAP_PROP_XI_AUTO_WB : mvret = xiSetParamInt( hmv, XI_PRM_AUTO_WB, ival); break;
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case CV_CAP_PROP_XI_MANUAL_WB : mvret = xiSetParamInt( hmv, XI_PRM_MANUAL_WB, ival); break;
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case CV_CAP_PROP_XI_AEAG : mvret = xiSetParamInt( hmv, XI_PRM_AEAG, ival); break;
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case CV_CAP_PROP_XI_EXP_PRIORITY : mvret = xiSetParamFloat( hmv, XI_PRM_EXP_PRIORITY, fval); break;
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case CV_CAP_PROP_XI_AE_MAX_LIMIT : mvret = xiSetParamInt( hmv, XI_PRM_AE_MAX_LIMIT, ival); break;
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case CV_CAP_PROP_XI_AG_MAX_LIMIT : mvret = xiSetParamFloat( hmv, XI_PRM_AG_MAX_LIMIT, fval); break;
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case CV_CAP_PROP_XI_AEAG_LEVEL : mvret = xiSetParamInt( hmv, XI_PRM_AEAG_LEVEL, ival); break;
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case CV_CAP_PROP_XI_TIMEOUT : timeout = ival; break;
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}
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if(mvret != XI_OK)
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{
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errMsg("Set parameter error", mvret);
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return false;
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}
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else
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return true;
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}
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/**********************************************************************************/
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void CvCaptureCAM_XIMEA::errMsg(const char* msg, int errNum)
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{
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#if defined WIN32 || defined _WIN32
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char buf[512]="";
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sprintf( buf, "%s : %d\n", msg, errNum);
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OutputDebugString(buf);
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#else
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fprintf(stderr, "%s : %d\n", msg, errNum);
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#endif
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}
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/**********************************************************************************/
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int CvCaptureCAM_XIMEA::getBpp()
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{
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switch( image.frm)
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{
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case XI_MONO8 :
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case XI_RAW8 : return 1;
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case XI_MONO16 :
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case XI_RAW16 : return 2;
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case XI_RGB24 :
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case XI_RGB_PLANAR : return 3;
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case XI_RGB32 : return 4;
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default :
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return 0;
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}
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}
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/**********************************************************************************/
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